MixedImpedanceVelocityController.h
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1 /*
2  * This file is part of ArmarX.
3  *
4  * ArmarX is free software; you can redistribute it and/or modify
5  * it under the terms of the GNU General Public License version 2 as
6  * published by the Free Software Foundation.
7  *
8  * ArmarX is distributed in the hope that it will be useful, but
9  * WITHOUT ANY WARRANTY; without even the implied warranty of
10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
11  * GNU General Public License for more details.
12  *
13  * You should have received a copy of the GNU General Public License
14  * along with this program. If not, see <http://www.gnu.org/licenses/>.
15  *
16  * @package ...
17  * @author Jianfeng Gao ( jianfeng dot gao at kit dot edu )
18  * @date 2024
19  * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
20  * GNU General Public License
21  */
22 
23 #pragma once
24 
25 #include <VirtualRobot/VirtualRobot.h>
26 
29 
33 #include <armarx/control/njoint_controller/task_space/ControllerInterface.h>
34 
36 {
38 
39  /**
40  * @defgroup Library-NJointTaskspaceMixedImpedanceVelocityController NJointTaskspaceMixedImpedanceVelocityController
41  * @ingroup Library-RobotUnit-NJointControllers
42  * A description of the library NJointTaskspaceMixedImpedanceVelocityController.
43  *
44  * @class NJointTaskspaceMixedImpedanceVelocityController
45  * @ingroup Library-NJointTaskspaceMixedImpedanceVelocityController
46  * @brief Brief description of class NJointTaskspaceMixedImpedanceVelocityController.
47  *
48  * Detailed description of class NJointTaskspaceMixedImpedanceVelocityController.
49  */
51  virtual public NJointController,
54  {
55  public:
56  using ConfigPtrT = ConfigurableNJointControllerConfigPtr;
59  using RtStatus = law::TaskspaceMixedImpedanceVelocityController::RtStatus;
60 
61  // using UserRTStatus = law::TaskspaceMixedImpedanceVelocityController::
62 
63  struct ArmData
64  {
65  /// devices
67  std::vector<ControlTarget1DoFActuatorTorque*> targetsTorque;
68  std::vector<ControlTarget1DoFActuatorVelocity*> targetsVel;
69 
70  std::vector<size_t> torqueControlledIndex;
71  std::vector<size_t> velocityControlledIndex;
72 
73  /// names
74  std::string kinematicChainName;
75  std::vector<std::string> jointNames;
76 
77  /// controller (maths)
79 
80  /// set data containers and buffers
81  double nonRTAccumulateTime = 0.0;
82  double nonRTDeltaT = 0.0;
83 
90 
96 
97  /// flags
98  std::atomic_bool rtFirstRun{true};
99  std::atomic_bool rtReady{false};
100  std::atomic_bool reInitPreActivate{false};
101 
102  /// robot
104  };
105 
106  using ArmPtr = std::unique_ptr<ArmData>;
107 
109  const NJointControllerConfigPtr& config,
110  const VirtualRobot::RobotPtr&);
111 
112  std::string getClassName(const Ice::Current& = Ice::emptyCurrent) const override;
113 
114  void rtRun(const IceUtil::Time& sensorValuesTimestamp,
115  const IceUtil::Time& timeSinceLastIteration) override;
116 
117  /// NJointController interface
119  const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
120  bool updateTargetPose(const TargetPoseMap& targetPoseMap,
121  const TargetNullspaceMap& targetNullspaceMap,
122  const Ice::Current& = Ice::emptyCurrent) override;
124  getConfig(const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
126  getRTStatus(const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
127 
128  Ice::FloatSeq getTCPVel(const std::string& rns,
129  const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
130 
131  Ice::DoubleSeq
132  getCurrentTCPPose(const std::string& nodeSetName,
133  const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
134 
135  /// ft sensor
136  void calibrateFTSensor(const Ice::Current&) override;
137  void
138  enableSafeGuardForceTorque(const std::string& nodeSetName,
139  const bool forceGuard,
140  const bool torqueGuard,
141  const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
142  bool isSafeForceTorque(const std::string& nodeSetName,
143  const Ice::Current& iceCurrent = Ice::emptyCurrent) override;
144 
145  public:
148  const std::map<std::string, ConstControlDevicePtr>&,
149  const std::map<std::string, ConstSensorDevicePtr>&);
150 
152 
153  protected:
154  virtual void additionalTask();
155  std::tuple<bool, bool> additionalTaskUpdateStatus();
157  void validateConfigData(Config& config, ArmPtr& arm);
158  void onPublish(const SensorAndControl&,
160  const DebugObserverInterfacePrx&) override;
161 
162  void limbInit(const std::string nodeSetName,
163  ArmPtr& arm,
164  Config& cfg,
165  VirtualRobot::RobotPtr& nonRtRobotPtr);
166  void limbNonRT(ArmPtr& arm);
167  void limbRT(ArmPtr& arm, const double deltaT);
168  void limbRTUpdateStatus(ArmPtr& arm, const double deltaT);
169  void limbRTSetTarget(ArmPtr& arm,
170  const size_t nDoFTorque,
171  const size_t nDoFVelocity,
172  const Eigen::VectorXf& targetTorque,
173  const Eigen::VectorXf& targetVelocity);
174  void limbPublish(ArmPtr& arm, const DebugObserverInterfacePrx& debugObs);
175  void limbReInit(ArmPtr& arm);
176  void handleRTNotSafeInNonRT();
177 
178  protected:
179  std::map<std::string, ArmPtr> limb;
184  std::map<std::string, VirtualRobot::RobotNodeSetPtr> controllableNodeSets;
185 
186  protected:
187  /// NJointControllerBase interface
188  void onInitNJointController() override;
189  void rtPreActivateController() override;
190  void rtPostDeactivateController() override;
191  };
192 } // namespace armarx::control::njoint_controller::task_space
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::userConfig
ConfigDict userConfig
Definition: MixedImpedanceVelocityController.h:182
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::rtPreActivateController
void rtPreActivateController() override
This function is called before the controller is activated.
Definition: MixedImpedanceVelocityController.cpp:771
ArVizComponentPlugin.h
TaskspaceMixedImpedanceVelocityController.h
HandControlBase.h
armarx::control::njoint_controller::core::HandControlPtr
std::shared_ptr< HandControlBase > HandControlPtr
Definition: HandControlBase.h:127
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::getClassName
std::string getClassName(const Ice::Current &=Ice::emptyCurrent) const override
Definition: MixedImpedanceVelocityController.cpp:173
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::rtRun
void rtRun(const IceUtil::Time &sensorValuesTimestamp, const IceUtil::Time &timeSinceLastIteration) override
TODO make protected and use attorneys.
Definition: MixedImpedanceVelocityController.cpp:385
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::onPublish
void onPublish(const SensorAndControl &, const DebugDrawerInterfacePrx &, const DebugObserverInterfacePrx &) override
Definition: MixedImpedanceVelocityController.cpp:702
armarx::StringVariantBaseMap
std::map< std::string, VariantBasePtr > StringVariantBaseMap
Definition: ManagedIceObject.h:110
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::limb
std::map< std::string, ArmPtr > limb
Definition: MixedImpedanceVelocityController.h:179
NJointControllerBase.h
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::handleRTNotSafeInNonRT
void handleRTNotSafeInNonRT()
Definition: MixedImpedanceVelocityController.cpp:260
armarx::SynchronousNJointController
Definition: NJointControllerBase.h:1146
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::controllableNodeSets
std::map< std::string, VirtualRobot::RobotNodeSetPtr > controllableNodeSets
Definition: MixedImpedanceVelocityController.h:184
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::ArmData::rtConfig
Config rtConfig
Definition: MixedImpedanceVelocityController.h:85
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::updateTargetPose
bool updateTargetPose(const TargetPoseMap &targetPoseMap, const TargetNullspaceMap &targetNullspaceMap, const Ice::Current &=Ice::emptyCurrent) override
Definition: MixedImpedanceVelocityController.cpp:541
armarx::control::njoint_controller::task_space
Definition: AdmittanceController.cpp:43
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::additionalTask
virtual void additionalTask()
Definition: MixedImpedanceVelocityController.cpp:212
armarx::control::common::SensorDevicesForNJointTorqueController
Definition: device.h:12
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::ArmData::nonRtConfig
Config nonRtConfig
Definition: MixedImpedanceVelocityController.h:84
ProsthesisInterface.values
values
Definition: ProsthesisInterface.py:190
armarx::control::common::control_law::TaskspaceMixedImpedanceVelocityController::ConfigDict
common::control_law::arondto::TaskspaceMixedImpedanceVelocityControllerConfigDict ConfigDict
Definition: TaskspaceMixedImpedanceVelocityController.h:43
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::ArmData::reInitPreActivate
std::atomic_bool reInitPreActivate
Definition: MixedImpedanceVelocityController.h:100
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::ArmData::nonRTAccumulateTime
double nonRTAccumulateTime
set data containers and buffers
Definition: MixedImpedanceVelocityController.h:81
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::getCurrentTCPPose
Ice::DoubleSeq getCurrentTCPPose(const std::string &nodeSetName, const Ice::Current &iceCurrent=Ice::emptyCurrent) override
Definition: MixedImpedanceVelocityController.cpp:522
armarx::NJointControllerBase::ConfigPtrT
NJointControllerConfigPtr ConfigPtrT
Definition: NJointControllerBase.h:587
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::ArmData::targetsVel
std::vector< ControlTarget1DoFActuatorVelocity * > targetsVel
Definition: MixedImpedanceVelocityController.h:68
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::ArmData::kinematicChainName
std::string kinematicChainName
names
Definition: MixedImpedanceVelocityController.h:74
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::ArmData::bufferRtStatusToUser
TripleBuffer< RtStatus > bufferRtStatusToUser
Definition: MixedImpedanceVelocityController.h:94
device.h
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::limbInit
void limbInit(const std::string nodeSetName, ArmPtr &arm, Config &cfg, VirtualRobot::RobotPtr &nonRtRobotPtr)
Definition: MixedImpedanceVelocityController.cpp:52
armarx::control::NJointTaskspaceMixedImpedanceVelocityControllerInterface
Definition: ControllerInterface.ice:79
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::validateConfigData
void validateConfigData(Config &config, ArmPtr &arm)
Definition: MixedImpedanceVelocityController.cpp:573
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::ArmData::bufferRtStatusToOnPublish
TripleBuffer< RtStatus > bufferRtStatusToOnPublish
Definition: MixedImpedanceVelocityController.h:93
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::getConfig
::armarx::aron::data::dto::DictPtr getConfig(const Ice::Current &iceCurrent=Ice::emptyCurrent) override
Definition: MixedImpedanceVelocityController.cpp:435
IceInternal::Handle
Definition: forward_declarations.h:8
armarx::detail::ControlThreadOutputBufferEntry
Definition: ControlThreadOutputBuffer.h:182
armarx::control::TargetNullspaceMap
dictionary< string, Ice::FloatSeq > TargetNullspaceMap
Definition: ControllerInterface.ice:40
armarx::control::common::control_law::TaskspaceMixedImpedanceVelocityController
Definition: TaskspaceMixedImpedanceVelocityController.h:36
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::ArmData::torqueControlledIndex
std::vector< size_t > torqueControlledIndex
Definition: MixedImpedanceVelocityController.h:70
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::ArmData::bufferConfigUserToNonRt
TripleBuffer< Config > bufferConfigUserToNonRt
Definition: MixedImpedanceVelocityController.h:86
armarx::ArVizComponentPluginUser
Provides a ready-to-use ArViz client arviz as member variable.
Definition: ArVizComponentPlugin.h:35
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController
Brief description of class NJointTaskspaceMixedImpedanceVelocityController.
Definition: MixedImpedanceVelocityController.h:50
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::limbNonRT
void limbNonRT(ArmPtr &arm)
Definition: MixedImpedanceVelocityController.cpp:205
armarx::control::common::control_law::TaskspaceMixedImpedanceVelocityController::Config
common::control_law::arondto::TaskspaceMixedImpedanceVelocityControllerConfig Config
Definition: TaskspaceMixedImpedanceVelocityController.h:41
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::enableSafeGuardForceTorque
void enableSafeGuardForceTorque(const std::string &nodeSetName, const bool forceGuard, const bool torqueGuard, const Ice::Current &iceCurrent=Ice::emptyCurrent) override
Definition: MixedImpedanceVelocityController.cpp:465
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::ArmData::nonRtRobot
VirtualRobot::RobotPtr nonRtRobot
robot
Definition: MixedImpedanceVelocityController.h:103
armarx::control::NJointTaskspaceMixedImpedanceVelocityControllerInterface::getRTStatus
armarx::aron::data::dto::Dict getRTStatus()
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::additionalTaskUpdateStatus
std::tuple< bool, bool > additionalTaskUpdateStatus()
Definition: MixedImpedanceVelocityController.cpp:224
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::ArmData::bufferConfigRtToOnPublish
TripleBuffer< Config > bufferConfigRtToOnPublish
Definition: MixedImpedanceVelocityController.h:88
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::NJointTaskspaceMixedImpedanceVelocityController
NJointTaskspaceMixedImpedanceVelocityController(const RobotUnitPtr &robotUnit, const NJointControllerConfigPtr &config, const VirtualRobot::RobotPtr &)
Definition: MixedImpedanceVelocityController.cpp:131
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::ArmData::bufferConfigNonRtToRt
TripleBuffer< Config > bufferConfigNonRtToRt
Definition: MixedImpedanceVelocityController.h:87
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::limbRTUpdateStatus
void limbRTUpdateStatus(ArmPtr &arm, const double deltaT)
-----------------------------— Real time cotnrol --------------------------------------—
Definition: MixedImpedanceVelocityController.cpp:282
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::isSafeForceTorque
bool isSafeForceTorque(const std::string &nodeSetName, const Ice::Current &iceCurrent=Ice::emptyCurrent) override
-----------------------------— Other interaces ----------------------------------------—
Definition: MixedImpedanceVelocityController.cpp:492
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::limbReInit
void limbReInit(ArmPtr &arm)
Definition: MixedImpedanceVelocityController.cpp:725
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::getTCPVel
Ice::FloatSeq getTCPVel(const std::string &rns, const Ice::Current &iceCurrent=Ice::emptyCurrent) override
Definition: MixedImpedanceVelocityController.cpp:508
armarx::control::common::control_law
This file is part of ArmarX.
Definition: aron_conversions.cpp:68
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::ArmData::sensorDevices
common::SensorDevicesForNJointTorqueController sensorDevices
devices
Definition: MixedImpedanceVelocityController.h:66
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::nonRtRobot
VirtualRobot::RobotPtr nonRtRobot
Definition: MixedImpedanceVelocityController.h:180
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::ArmData::velocityControlledIndex
std::vector< size_t > velocityControlledIndex
Definition: MixedImpedanceVelocityController.h:71
armarx::armem::Time
armarx::core::time::DateTime Time
Definition: forward_declarations.h:13
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::limbRT
void limbRT(ArmPtr &arm, const double deltaT)
Definition: MixedImpedanceVelocityController.cpp:351
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::ArmData::controller
law::TaskspaceMixedImpedanceVelocityController controller
controller (maths)
Definition: MixedImpedanceVelocityController.h:78
armarx::control::NJointTaskspaceMixedImpedanceVelocityControllerInterface::calibrateFTSensor
void calibrateFTSensor()
ft sensor
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::onInitNJointController
void onInitNJointController() override
NJointControllerBase interface.
Definition: MixedImpedanceVelocityController.cpp:179
armarx::aron::data::DictPtr
std::shared_ptr< Dict > DictPtr
Definition: Dict.h:41
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::rtPostDeactivateController
void rtPostDeactivateController() override
This function is called after the controller is deactivated.
Definition: MixedImpedanceVelocityController.cpp:786
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::limbRTSetTarget
void limbRTSetTarget(ArmPtr &arm, const size_t nDoFTorque, const size_t nDoFVelocity, const Eigen::VectorXf &targetTorque, const Eigen::VectorXf &targetVelocity)
Definition: MixedImpedanceVelocityController.cpp:308
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::updateConfig
void updateConfig(const ::armarx::aron::data::dto::DictPtr &dto, const Ice::Current &iceCurrent=Ice::emptyCurrent) override
NJointController interface.
Definition: MixedImpedanceVelocityController.cpp:403
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::ArmData::targetsTorque
std::vector< ControlTarget1DoFActuatorTorque * > targetsTorque
Definition: MixedImpedanceVelocityController.h:67
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::GenerateConfigDescription
static WidgetDescription::WidgetPtr GenerateConfigDescription(const VirtualRobot::RobotPtr &, const std::map< std::string, ConstControlDevicePtr > &, const std::map< std::string, ConstSensorDevicePtr > &)
--------------------------------— GUI Widget ------------------------------------------—
Definition: MixedImpedanceVelocityController.cpp:796
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::ArmData::rtFirstRun
std::atomic_bool rtFirstRun
flags
Definition: MixedImpedanceVelocityController.h:98
IceUtil::Handle< class RobotUnit >
IceInternal::ProxyHandle<::IceProxy::armarx::DebugDrawerInterface >
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::hands
core::HandControlPtr hands
Definition: MixedImpedanceVelocityController.h:183
armarx::control::TargetPoseMap
dictionary< string, FloatSeqSeq > TargetPoseMap
Definition: ControllerInterface.ice:39
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::ArmData::jointNames
std::vector< std::string > jointNames
Definition: MixedImpedanceVelocityController.h:75
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::GenerateConfigFromVariants
static ConfigPtrT GenerateConfigFromVariants(const StringVariantBaseMap &values)
Definition: MixedImpedanceVelocityController.cpp:829
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::Config
law::TaskspaceMixedImpedanceVelocityController::Config Config
Definition: MixedImpedanceVelocityController.h:57
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::ArmData::bufferRtStatusToNonRt
TripleBuffer< RtStatus > bufferRtStatusToNonRt
Definition: MixedImpedanceVelocityController.h:95
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::RtStatus
law::TaskspaceMixedImpedanceVelocityController::RtStatus RtStatus
Definition: MixedImpedanceVelocityController.h:59
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::ArmData::rtStatusInNonRT
RtStatus rtStatusInNonRT
Definition: MixedImpedanceVelocityController.h:91
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::ArmData
Definition: MixedImpedanceVelocityController.h:63
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::limbPublish
void limbPublish(ArmPtr &arm, const DebugObserverInterfacePrx &debugObs)
Definition: MixedImpedanceVelocityController.cpp:622
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::ArmPtr
std::unique_ptr< ArmData > ArmPtr
Definition: MixedImpedanceVelocityController.h:106
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::additionalTaskSetTarget
void additionalTaskSetTarget()
Definition: MixedImpedanceVelocityController.cpp:247
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::ArmData::nonRTDeltaT
double nonRTDeltaT
Definition: MixedImpedanceVelocityController.h:82
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::ArmData::bufferConfigRtToUser
TripleBuffer< Config > bufferConfigRtToUser
Definition: MixedImpedanceVelocityController.h:89
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::robotUnit
RobotUnitPtr robotUnit
Definition: MixedImpedanceVelocityController.h:181
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::ConfigDict
law::TaskspaceMixedImpedanceVelocityController::ConfigDict ConfigDict
Definition: MixedImpedanceVelocityController.h:58
VirtualRobot::RobotPtr
std::shared_ptr< class Robot > RobotPtr
Definition: Bus.h:19
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::ArmData::rtReady
std::atomic_bool rtReady
Definition: MixedImpedanceVelocityController.h:99
armarx::TripleBuffer< Config >
armarx::control::njoint_controller::task_space::NJointTaskspaceMixedImpedanceVelocityController::ArmData::rtStatus
RtStatus rtStatus
Definition: MixedImpedanceVelocityController.h:92